docs(*): update doc

docs/index.rst

@@ -10,11 +10,9 @@ MYNT® EYE S SDK
    :titlesonly:
    :maxdepth: 2
 
-   src/mynteye/contents
+   src/product/contents
    src/sdk/contents
    src/firmware/contents
-   src/data/contents
-   src/analytics/contents
    src/tools/contents
    src/slam/contents
    api/contents

docs/src/firmware/FirmwareUpdate.rst

@@ -1,11 +0,0 @@
-.. _firmware:
-
-Upgrade Firmware
-==================
-
-.. toctree::
-   :maxdepth: 2
-
-   upgrade
-   stm_update
-   from_v1

docs/src/firmware/contents.rst

@@ -4,6 +4,5 @@ FIRMWARE
 .. toctree::
    :maxdepth: 2
 
-   FirmwareContents
-   FirmwareUpdate
-   UpdateLogToDos
+   fw_info
+   fw_update

docs/src/firmware/fw_changelog.rst

@@ -1,4 +1,4 @@
-Update Log
+Change Log
 ==================
 
 .. toctree::

docs/src/firmware/fw_info.rst

@@ -1,4 +1,4 @@
-.. _firmware:
+.. _fw_info:
 
 Firmware Description
 ==================
@@ -6,4 +6,4 @@ Firmware Description
 .. toctree::
    :maxdepth: 2
 
-   applicable
+   applicable

docs/src/firmware/fw_update.rst

@@ -0,0 +1,10 @@
+.. _fw_update:
+
+Firmware Update
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   update_main_chip
+   update_auxiliary_chip

docs/src/firmware/update_auxiliary_chip.rst

@@ -1,26 +1,26 @@
-.. _firmware_stm_update:
+.. _fw_update_auxiliary_chip:
 
-How to update the Auxiliary Chip
+Update Auxiliary Chip Firmware
 ==================================
 
-Update auxiliary chip(Only Support S2100/S210A)
------------------------------------------------
+Update auxiliary chip (Only Support S2100/S210A)
+------------------------------------------------
 
 * Plug in the MYNT® EYE camera into a USB3.0 port
 
 * Open MYNT EYE TOOL and select ``Options/BoardUpdate`` .
 
-.. image:: ../../images/boardupdate.png
+.. image:: ../../images/firmware/boardupdate.png
 
 * Click ``StmUpdate`` .
 
-.. image:: ../../images/stmupdate.png
+.. image:: ../../images/firmware/stmupdate.png
 
 * In the open file selection box, select the firmware ``MYNTEYE-S210x-auxiliary-chip-v1.0.bin``  and start upgrading.
 
 * Once the upgrade is complete, it will display update finished.
 
-.. image:: ../../images/stmsuccess.png
+.. image:: ../../images/firmware/stmsuccess.png
 
 
 

docs/src/firmware/update_main_chip.rst

@@ -1,6 +1,6 @@
-.. _firmware_upgrade:
+.. _fw_update_main_chip:
 
-How to update Main Processing Chip
+Update Main Chip Firmware
 ====================================
 
 Please use the MYNT EYE TOOL to update main processing chip.
@@ -42,11 +42,11 @@ Update Firmware
 
 * Open MYNT EYE TOOL and select ``Options/FirmwareUpdate`` .
 
-.. image:: ../../images/firmware_update_option.png
+.. image:: ../../images/firmware/firmware_update_option.png
 
 * Click ``Update`` .
 
-.. image:: ../../images/firmware_update.png
+.. image:: ../../images/firmware/firmware_update.png
    :width: 60%
 
 * A warning dialog box will pop up, click ``yes`` .
@@ -56,19 +56,19 @@ Update Firmware
     * Usually, the MYNT EYE TOOL automatically installs the driver during the upgrade process.
     * If the upgrade fails, refer to README.
 
-.. image:: ../../images/firmware_update_warning.png
+.. image:: ../../images/firmware/firmware_update_warning.png
    :width: 60%
 
-.. image:: ../../images/firmware_update_dir.png
+.. image:: ../../images/firmware/firmware_update_dir.png
    :width: 60%
 
 * In the open file selection box, select the firmware you want to upgrade and start upgrading.
 
-.. image:: ../../images/firmware_update_select.png
+.. image:: ../../images/firmware/firmware_update_select.png
 
 * Once the upgrade is complete, the status will changes to ``Succeeded``.
 
-.. image:: ../../images/firmware_update_success.png
+.. image:: ../../images/firmware/firmware_update_success.png
    :width: 60%
 
 * Close the MYNT EYE TOOL，finish.
@@ -85,13 +85,13 @@ Manually update drivers
 
 * Open device manager, locate ``WestBridge_driver`` device, and right click Update Driver,select ``[application directory]WestBridge_driver\\[corresponding system folders](If it is more than win7, choose wlh)\\[system bits]`` .
 
-.. image:: ../../images/firmware_update_westbridge.png
+.. image:: ../../images/firmware/firmware_update_westbridge.png
 
 * For example,if it is the win10 64 bit system computer,and the application is installed under the default path,you should select ``C:\Program Files (x86)\slightech\MYNT EYE TOOL 2.0\WestBridge_driver\wlh\x64``.
 
 * After the installation driver is successful, you can find the ``Cypress USB BootLoader`` device in the device manager.
 
-.. image:: ../../images/firmware_update_cypressUSB.png
+.. image:: ../../images/firmware/firmware_update_cypressUSB.png
 
 * Then plug in the camera and open the application again to update.
 
@@ -101,5 +101,5 @@ Manually update drivers
 
 .. ::
 
-  .. image:: ../../images/firmware_update_driver.png
-  .. image:: ../../images/firmware_update_driver_install.png
+  .. image:: ../../images/firmware/firmware_update_driver.png
+  .. image:: ../../images/firmware/firmware_update_driver_install.png

docs/src/mynteye/imu_coord_s2100.rst

@@ -1,8 +0,0 @@
-.. _mynteye_imu_coord_s2100:
-
-MYNTEYE-S2100 IMU coordinata system
-====================================
-
-IMU coordinate system is right-handed,the axis directions are as follows:
-
-.. image:: ../../images/mynteye_avatar_imu_coord.jpg

docs/src/product/contents.rst

@@ -4,8 +4,7 @@ PRODUCT
 .. toctree::
    :maxdepth: 2
 
-   product_description
+   product_desc
    product_surface
-   pro_intro
-   support_resolutions
-   imu_coord
+   product_spec
+   imu_coord

docs/src/product/imu_coord.rst

@@ -1,6 +1,6 @@
-.. _mynteye:
+.. _product_imu_coord:
 
-IMU Coordinata System
+IMU Coordinate System
 ==================
 
 .. toctree::
@@ -8,4 +8,3 @@ IMU Coordinata System
 
    imu_coord_s1030
    imu_coord_s2100
-  

docs/src/product/imu_coord_s1030.rst

@@ -1,8 +1,8 @@
-.. _mynteye_imu_coord_s1030:
+.. _product_imu_coord_s1030:
 
-MYNTEYE-S1030 IMU coordinata system
+S1030 Coordinate System
 ====================================
 
 IMU coordinate system is right-handed,the axis directions are as follows:
 
-.. image:: ../../images/mynteye_imu_coord.jpg
+.. image:: ../../images/product/mynteye_imu_coord.jpg

docs/src/product/imu_coord_s2100.rst

@@ -0,0 +1,8 @@
+.. _product_imu_coord_s2100:
+
+S2100 Coordinate System
+====================================
+
+IMU coordinate system is right-handed,the axis directions are as follows:
+
+.. image:: ../../images/product/mynteye_s2_imu_coord.jpg

docs/src/product/product_desc.rst

@@ -1,4 +1,4 @@
-.. _mynteye:
+.. _product_desc:
 
 Product Description
 ====================

docs/src/product/product_spec.rst

@@ -1,6 +1,6 @@
-.. _mynteye:
+.. _product_spec:
 
-Product Introduction
+Product Specification
 ==============================
 
 .. toctree::
@@ -8,4 +8,4 @@ Product Introduction
 
    spec_s1030
    spec_s1030_ir
-   spec_s2100
+   spec_s2100

docs/src/product/product_surface.rst

@@ -1,6 +1,6 @@
-.. _mynteye:
+.. _product_surface:
 
-Surface
+Product Surface
 ==================
 
 .. toctree::
@@ -8,4 +8,3 @@ Surface
 
    surface_s1030
    surface_s2100
-  

docs/src/product/spec_s1030.rst

@@ -3,7 +3,7 @@
 S1030-120/Mono Product Specification
 =========================================
 
-Product Specification:
+Product Specification
 -----------------------
 
 
@@ -82,14 +82,14 @@ Work Environment
 ===========================  ================================
 
 
-Package:
+Package
 ---------
 
 ===================  =======================================
   Package Contents      MYNT EYE x1   USB Micro-B Cable x1
 ===================  =======================================
 
-Warranty：
+Warranty
 ----------
 
 ====================  ============================================

docs/src/product/spec_s1030_ir.rst

@@ -3,7 +3,7 @@
 S1030-IR-120/Mono Product Specification
 =========================================
 
-Product Specification:
+Product Specification
 -----------------------
 
 
@@ -84,14 +84,14 @@ Work Environment
 ===========================  ================================
 
 
-Package:
+Package
 ---------
 
 ===================  =======================================
   Package Contents      MYNT EYE x1   USB Micro-B Cable x1
 ===================  =======================================
 
-Warranty：
+Warranty
 ----------
 
 ====================  ============================================

docs/src/product/spec_s2100.rst

@@ -4,7 +4,7 @@
 S2100-146/Color Product Specification
 ========================================
 
-Product Specification:
+Product Specification
 -----------------------
 
 
@@ -81,14 +81,14 @@ Work Environment
 =========================  ==============================
 
 
-Package:
+Package
 ---------
 
 ===================  =======================================
   Package Contents      MYNT EYE x1   USB Micro-B Cable x1
 ===================  =======================================
 
-Warranty：
+Warranty
 ----------
 
 ====================  ============================================

docs/src/product/surface_s1030.rst

@@ -1,6 +1,6 @@
 .. _mynteye_surface_s1030:
 
-MYNTEYE-S1030 Size and structure
+S1030 Size and Structure
 =================================
 
 ============= ==============
@@ -9,7 +9,7 @@ Shell(mm)     PCBA board(mm)
 165x31.5x29.6 149x24
 ============= ==============
 
-.. image:: ../../images/mynteye_surface_zh-Hans.jpg
+.. image:: ../../images/product/mynteye_surface_zh-Hans.jpg
 
 A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation.
 B. Infrared structured-light transmitter and outlet: the infrared structured-light can effectively solve the problem associated with the visual positioning calculations of white wall non-textured object(For non-IR version, the outlet is reserved but there is no internal structured-light emitter).

docs/src/product/surface_s2100.rst

@@ -1,6 +1,6 @@
 .. _mynteye_surface_s2100:
 
-MYNTEYE-S2100 Size and structure
+S2100 Size and Structure
 ================================
 
 ============= ==============
@@ -9,7 +9,7 @@ Shell(mm)     PCBA board(mm)
 125x47x40     100x15
 ============= ==============
 
-.. image:: ../../images/mynteye_avatar_surface_zh-Hans.jpg
+.. image:: ../../images/product/mynteye_s2_surface_zh-Hans.jpg
 
 A. Camera:please pay attention to protect the camera sensor lenses, to avoid imaging quality degradation.
 B. USB Micro-B interface and set screw holes: during usage, plug in the USB Micro-B cable and secure it by fastening the set screws to avoid damage to the interface and to ensure stability in connection.

docs/src/sdk/InstallContents.rst

@@ -1,14 +0,0 @@
-.. _sdk:
-
-Installation and Use
-==================
-
-.. toctree::
-   :maxdepth: 2
-
-   ppa_install_ubuntu
-   source_install_ubuntu
-   exe_install_windows
-   source_install_windows
-   install_ros
-   without_opencv

docs/src/sdk/ProjectContents.rst

@@ -1,12 +0,0 @@
-.. _sdk:
-
-Project Reference
-==================
-
-.. toctree::
-   :maxdepth: 2
-
-   // 缺少:
-   cmake
-   vs2017
-   qtcreator

docs/src/sdk/contents.rst

@@ -4,7 +4,9 @@ SDK
 .. toctree::
    :maxdepth: 5
 
-   platform
-   InstallContents
-   ProjectContentsToDos
-   changelog
+   sdk_info
+   sdk_install
+   data/contents
+   control/contents
+   tools/contents
+   sdk_changelog

docs/src/sdk/control/contents.rst

@@ -1,6 +1,6 @@
 .. _ctrl:
 
-MYNT® EYE Control
+SDK Control Samples
 =================
 
 .. toctree::
@@ -11,4 +11,4 @@ MYNT® EYE Control
    manual_exposure
    infrared
    imu_low_pass_filter
-   iic_address
+   iic_address

docs/src/sdk/control/infrared.rst

@@ -44,7 +44,7 @@ Reference running results on Linux:
 
 At this point, if the image is displayed, you can see IR speckle on the image, as below:
 
-.. image:: ../../images/ir.png
+.. image:: ../../../images/sdk/ir.png
 
 
 .. attention::

docs/src/sdk/data/contents.rst

@@ -1,5 +1,7 @@
-SDK SAMPLES
-==============
+.. _data:
+
+SDK Data Samples
+================
 
 .. toctree::
 
@@ -14,4 +16,4 @@ SDK SAMPLES
    get_imu
    get_imu_correspondence
    get_from_callbacks
-   get_with_plugin
+   get_with_plugin

docs/src/sdk/from_v1.rst

@@ -1,4 +1,4 @@
-..  _firmware_from_v1:
+..  _sdk_from_v1:
 
 Change from SDK 1.x to 2.x
 ===========================

docs/src/sdk/install_ros_wrapper.rst

@@ -1,7 +1,7 @@
-.. _sdk_install_ros:
+.. _sdk_install_ros_wrapper:
 
-ROS Installation
-================
+ROS Wrapper Installation
+========================
 
 .. only:: html
 

docs/src/sdk/install_ubuntu_ppa.rst

@@ -1,6 +1,6 @@
-.. _sdk_ppa_install_ubuntu:
+.. _sdk_install_ubuntu_ppa:
 
-Ubuntu SDK PPA Installation
+Ubuntu PPA Installation
 ============================
 
 .. only:: html

docs/src/sdk/install_ubuntu_src.rst

@@ -1,6 +1,6 @@
-.. _sdk_source_install_ubuntu:
+.. _sdk_install_ubuntu_src:
 
-Ubuntu SDK Source Installation
+Ubuntu Source Installation
 ==============================
 
 .. only:: html

docs/src/sdk/install_windows_exe.rst

@@ -1,6 +1,6 @@
-.. _sdk_exe_install_windows:
+.. _sdk_install_windows_exe:
 
-Windows SDK exe Installation
+Windows EXE Installation
 =============================
 
 .. only:: html

docs/src/sdk/install_windows_src.rst

@@ -1,6 +1,6 @@
-.. _sdk_source_install_windows:
+.. _sdk_install_windows_src:
 
-Windows SDK Source Installation
+Windows Source Installation
 ================================
 
 .. only:: html
@@ -76,12 +76,12 @@ After installing Visual Studio, confirm that the following command can run in th
 
   Visual Studio Command Prompt can be opened from the Start menu,
 
-  .. image:: ../../images/vs_cmd_menu.png
+  .. image:: ../../images/sdk/vs_cmd_menu.png
     :width: 30%
 
   You can also open it from the Visual Studio Tools menu.
 
-  .. image:: ../../images/vs_cmd.png
+  .. image:: ../../images/sdk/vs_cmd.png
     :width: 40%
 
   However, if you do not have the Visual Studio 2015 Tools menu, you can add one yourself.
@@ -99,7 +99,7 @@ After installing Visual Studio, confirm that the following command can run in th
 
   In Visual Studio command Prompt, you can use the compile command ``cl`` ``link`` ``lib`` ``msbuild``, etc.(need finish ``MSYS2``and ``Getting Source Code`` steps first)
 
-  .. image:: ../../images/vs_cmd_test.png
+  .. image:: ../../images/sdk/vs_cmd_test.png
 
 MSYS2 (provide Linux command)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

docs/src/sdk/sdk_changelog.rst

@@ -1,13 +1,12 @@
 .. _sdk_changelog:
 
 Change Log
-=========
+==========
 
 2019-07-01(v2.3.9)
 -------------------
 1. Fix ros timestamp issue
 
-
 2019-05-20(v2.3.8)
 -------------------
 1. Improve VINS-Fusion supporting

docs/src/sdk/sdk_info.rst

@@ -1,4 +1,4 @@
-.. _sdk:
+.. _sdk_info:
 
 SDK Description
 ==================
@@ -6,4 +6,5 @@ SDK Description
 .. toctree::
    :maxdepth: 2
 
-   platform
+   support_platforms
+   without_opencv

docs/src/sdk/sdk_install.rst

@@ -0,0 +1,13 @@
+.. _sdk_install:
+
+SDK Installation
+==================
+
+.. toctree::
+   :maxdepth: 2
+
+   install_ubuntu_ppa
+   install_ubuntu_src
+   install_windows_exe
+   install_windows_src
+   install_ros_wrapper

docs/src/sdk/sdk_projects.rst

@@ -1,9 +1,7 @@
-.. _sdk:
+.. _sdk_projects:
 
-Change Log
+Project Samples
 ==================
 
 .. toctree::
    :maxdepth: 2
-
-   changelog

docs/src/sdk/support_platforms.rst

@@ -1,4 +1,4 @@
-.. _sdk_platform:
+.. _sdk_support_platforms:
 
 Supported Platforms
 ====================

docs/src/sdk/tools/analytics_imu.rst

@@ -29,7 +29,7 @@ Refer to run commands and results on Linux:
 
 The analysis result graph will be saved in the data set directory, as follows:
 
-.. image:: ../../images/imu_analytics.png
+.. image:: ../../../images/sdk/tools/imu_analytics.png
 
 In addition, the script specific options can be executed ``-h``:
 

docs/src/sdk/tools/analytics_stamp.rst

@@ -42,7 +42,7 @@ Reference run commands and results on Linux:
 
 The analysis result graph will be saved in the dataset directory, as follows:
 
-.. image:: ../../images/stamp_analytics.png
+.. image:: ../../../images/sdk/tools/stamp_analytics.png
 
 In addition, the script specific options can be executed ``-h`` to understand:
 

docs/src/sdk/tools/contents.rst

@@ -1,4 +1,4 @@
-SDK TOOLS
+SDK Tools
 ==================
 
 .. toctree::
@@ -6,4 +6,4 @@ SDK TOOLS
 
    analytics_dataset
    analytics_imu
-   analytics_stamp
+   analytics_stamp

docs/src/sdk/without_opencv.rst

@@ -1,6 +1,6 @@
 .. _sdk_without_opencv:
 
-OpenCV independency
+OpenCV Description
 ===================
 
 SDK provides a three-tier interface with OpenCV dependencies:

docs/src/tools/calibration_tool.rst

@@ -1,8 +1,7 @@
 .. _calibration_tool:
 
-MYNT EYE S Manual Calibration Tool
-==========
-
+Calibration Tool Manual
+=======================
 
 Introduction
 --------
@@ -15,7 +14,7 @@ Currently the calibration tool only supports Ubuntu 16.04 LTS, but support the o
 ====================  ====================  ======================
 Platform              Architecture          Different dependence
 ====================  ====================  ======================
-Ubuntu 16.04 LTS      x64(amd64)            libopencv-dev 
+Ubuntu 16.04 LTS      x64(amd64)            libopencv-dev
 Ubuntu 16.04 LTS      x64(amd64)            ros-kinetic-opencv3
 ====================  ====================  ======================
 
@@ -29,22 +28,22 @@ Deb/ppa installation package is available on Ubuntu. The architecture, dependenc
 * mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb
 * mynteye-s-calibrator-opencv-ros-kinetic-1.0.0_amd64.deb
 
-=======================  ====================  ============================================================ 
-Dependency identifier    Dependency package     Detailed description            
 =======================  ====================  ============================================================
-opencv-official          libopencv-dev          https://packages.ubuntu.com/xenial/libopencv-dev                                
-opencv-ros-kinetic       ros-kinetic-opencv3    http://wiki.ros.org/opencv3                                         
+Dependency identifier    Dependency package     Detailed description
+=======================  ====================  ============================================================
+opencv-official          libopencv-dev          https://packages.ubuntu.com/xenial/libopencv-dev
+opencv-ros-kinetic       ros-kinetic-opencv3    http://wiki.ros.org/opencv3
 =======================  ====================  ============================================================
 
 
 1.3 Deb Toolkit Get
 --------
 
-====================  ======================================================================== 
-Method of Obtaining   Get address          
 ====================  ========================================================================
-Baidu Cloud            https://pan.baidu.com/s/19rW0fPKUlQj6eldZpZFoAA  Extraction code: a6ps                          
-Google Drive           https://drive.google.com/open?id=1RsV2WEKAsfxbn-Z5nGjk5g3ml1UDEsDc                               
+Method of Obtaining   Get address
+====================  ========================================================================
+Baidu Cloud            https://pan.baidu.com/s/19rW0fPKUlQj6eldZpZFoAA  Extraction code: a6ps
+Google Drive           https://drive.google.com/open?id=1RsV2WEKAsfxbn-Z5nGjk5g3ml1UDEsDc
 ====================  ========================================================================
 
 
@@ -96,7 +95,7 @@ If you encounter an error that the dependency package is not installed, for exam
   dependency problems - leaving unconfigured
   Errors were encountered while processing:
   mynteye-s-calibrator
- 
+
 You can continue use sudo apt-get -f install to finished install
 
 .. code-block:: bash
@@ -157,7 +156,7 @@ Options:
 -x WIDTH, --width=WIDTH     The chessboard width, default: 11
 -y HEIGHT, --height=HEIGHT  The chessboard height, default: 7
 -s METERS, --square=METERS  The chessboard square size in meters, default: 0.036
--n NUMBER, --number=NUMBER  The number of images to use for calibration, default: 11
+-n NUMBER, --number=NUMBER  The number of imagestools to use for calibration, default: 11
 -p PATH, --path=PATH        The path to save the result, default: folder name using device's SN
 
 * -x -y -s Used to set the width, height, and grid size of the calibration plate. Width and height refer to the number of black and white intersections in the horizontal and vertical directions of the checkerboard. Square size in meters.
@@ -170,43 +169,43 @@ Options:
 
 * Then, run the mynteye-s-calibrator <calibration board parameter> command in the terminal.
 
-.. image:: ../../images/calibration001.png
+.. image:: ../../images/tools/calibration001.png
    :width: 60%
 
 * Follow the prompts to select an index for the camera's resolution, perform image calibration at this resolution
 
 * The S1030 camera only need calibrate 752*480 resolution. The S2100 camera need calibrate 2560*800 and 1280*400 resolutions.
 
-* As far as possible, let the calibration plate cover the left and right eye images of the camera, 
-and take care of the surroundings (maximum distortion). The calibration tool will automatically 
+* As far as possible, let the calibration plate cover the left and right eye images of the camera,
+and take care of the surroundings (maximum distortion). The calibration tool will automatically
 evaluate the qualified image for the calibration calculation and will indicate on the terminal how many have been selected.
 
 Reference acquisition image, as follows:
 
-.. image:: ../../images/calibration002.png
+.. image:: ../../images/tools/calibration002.png
    :width: 60%
 
-.. image:: ../../images/calibration003.png
+.. image:: ../../images/tools/calibration003.png
    :width: 60%
 
-.. image:: ../../images/calibration004.png
+.. image:: ../../images/tools/calibration004.png
    :width: 60%
 
-.. image:: ../../images/calibration005.png
+.. image:: ../../images/tools/calibration005.png
    :width: 60%
 
-.. image:: ../../images/calibration006.png
+.. image:: ../../images/tools/calibration006.png
    :width: 60%
 
 
-* Note: p_x, p_y, size, skew respectively indicate the scale of the calibration plate on the x-axis, y-axis, 
+* Note: p_x, p_y, size, skew respectively indicate the scale of the calibration plate on the x-axis, y-axis,
   zoom, and tilt when the image is acquired. Make a point for reference.
 
-* Once the number of images acquired by the calibration needs is reached, 
+* Once the number of images acquired by the calibration needs is reached,
   the calibration calculation will be performed. The output is as follows:
 
 
-.. image:: ../../images/calibration007.png
+.. image:: ../../images/tools/calibration007.png
    :width: 60%
 
 
@@ -222,7 +221,7 @@ Reference acquisition image, as follows:
 
 * Finally, you will also be asked if you want to write to the camera device. Enter or `y` to confirm
 
-.. image:: ../../images/calibration008.png
+.. image:: ../../images/tools/calibration008.png
    :width: 60%
 
 * After writing to the device, you will be prompted with "Write to device done".

docs/src/tools/contents.rst

@@ -1,8 +1,8 @@
 .. _tools:
 
 TOOLS SUPPORT
-========
+==============
 
 .. toctree::
-	
+
    calibration_tool

docs/src/wrapper/ros.rst

@@ -3,7 +3,7 @@
 How to use ROS
 ==============
 
-Compile and run the node according to :ref:`sdk_install_ros` .
+Compile and run the node according to :ref:`sdk_install_ros_wrapper` .
 
 .. tip::